User Manual

Why to use KDL?

Kinematic Trees: chain and tree structures. In literature, multiple definitions exist for a kinematic structure: a chain as the equivalent for all types of kinematic structures (chain, tree, graph) or chain as the serial version of a kinematic structure. KDL uses the last, or using graph-theory terminology:

A closed-loop mechanism is a graph,

an open-loop mechanism is a tree, and

an unbranched tree is a chain.

Next to kinematics, also parameters for dynamics are included (inertia...)